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    "headline": "Twenty Frames Removed Nearly One-Fifth of Hidden-Vehicle Seeds",
    "slug": "twenty-frames-removed-nearly-one-fifth-of-hidden-vehicle-seeds",
    "dek": "History-conditioned minimax search found six avoidable counterexamples across eight Waymo scenarios.",
    "summary": "History-conditioned minimax search found six avoidable counterexamples across eight Waymo scenarios.",
    "body_text": "The method certifies hidden trajectories against visibility, occupancy, map and kinematic constraints before searching for the legal path that hurts the ego vehicle's best response most. Extending memory from one frame to twenty reduced retained hidden seeds about 18.45% overall; no collision-producing attacker was found in two scenes within the finite budget.",
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    "tags": [
      "autonomous driving",
      "occlusion",
      "minimax search"
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    {
      "source_id": "source-2026-09-19-021",
      "title": "arXiv preprint 2609.20480",
      "publisher": "arXiv",
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      "published_at": "2026-09-17T10:33:23.000-04:00",
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    "title": "Twenty Frames Removed Nearly One-Fifth of Hidden-Vehicle Seeds",
    "publisher": "The Machine Press",
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